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<div class="title">ti_boardcontrol.h</div>  </div>
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<a href="../../d9/d42/ti__boardcontrol_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TI_BOARDCONTROL_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define TI_BOARDCONTROL_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d99/c_types_8h.html">cTypes.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// class for a simulated TI board</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// replaces the old TI board control code, which required keeping track of the</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// command/data state data.</span></div><div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html">    9</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a> {</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">   10</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">position_des</a>[3];</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">   11</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">velocity_des</a>[3];</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">   12</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">kp</a>[3];</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">   13</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">kd</a>[3];</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#a4ebe624e78c04ef728d2cac3e265e969">   14</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a4ebe624e78c04ef728d2cac3e265e969">force_ff</a>[3];</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#aed1ae639325c878829a4d3ffd58184be">   15</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#aed1ae639325c878829a4d3ffd58184be">tau_ff</a>[3];</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#a7f848ae35717601f1698d817740b729d">   16</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a7f848ae35717601f1698d817740b729d">enable</a>;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">   17</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">max_torque</a>;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;};</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html">   20</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../de/de1/struct_ti_board_data.html">TiBoardData</a> {</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a9b8bb8e37b5a744343c42683a63a5b5f">   21</a></span>&#160;  <span class="keywordtype">float</span> position[3];</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a771df24317bbe9e29d097c379b441750">   22</a></span>&#160;  <span class="keywordtype">float</span> velocity[3];</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a05a30848a702272acc265730773119b7">   23</a></span>&#160;  <span class="keywordtype">float</span> force[3];</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#abbd604ce0592a16aeff781483306034f">   24</a></span>&#160;  <span class="keywordtype">float</span> q[3];</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a59bdb52d482a8cf13b0eefe34760b530">   25</a></span>&#160;  <span class="keywordtype">float</span> dq[3];</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a23920e775730ce3be781cc666cff0143">   26</a></span>&#160;  <span class="keywordtype">float</span> tau[3];</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">   27</a></span>&#160;  <span class="keywordtype">float</span> tau_des[3];</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a81765ede3ad9b85d0a95652d5e159340">   28</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> <a class="code" href="../../de/de1/struct_ti_board_data.html#a81765ede3ad9b85d0a95652d5e159340">loop_count_ti</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#a71ac7295b1c19c1aba762a1da73e4a78">   29</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> <a class="code" href="../../de/de1/struct_ti_board_data.html#a71ac7295b1c19c1aba762a1da73e4a78">ethercat_count_ti</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../de/de1/struct_ti_board_data.html#ac56601d292d7fdd729c035076d72bbe4">   30</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> <a class="code" href="../../de/de1/struct_ti_board_data.html#ac56601d292d7fdd729c035076d72bbe4">microtime_ti</a>;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;};</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html">   33</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d4/d1a/class_t_i___board_control.html">TI_BoardControl</a> {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html">TI_BoardControl</a>() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> init(<span class="keywordtype">float</span> side_sign);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> run_ti_board_iteration();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> reset_ti_board_data();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> reset_ti_board_command();</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordtype">void</span> set_link_lengths(<span class="keywordtype">float</span> l1, <span class="keywordtype">float</span> l2, <span class="keywordtype">float</span> l3);</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">   41</a></span>&#160;  <a class="code" href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">   42</a></span>&#160;  <a class="code" href="../../de/de1/struct_ti_board_data.html">TiBoardData</a> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// for Ben&#39;s TI board code that uses pointers</span></div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">   45</a></span>&#160;  <a class="code" href="../../de/de1/struct_ti_board_data.html">TiBoardData</a>* <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">void</span> kinematics(<span class="keyword">const</span> <span class="keywordtype">float</span> side_sign, <span class="keyword">const</span> <span class="keywordtype">float</span> q[3], <span class="keyword">const</span> <span class="keywordtype">float</span> dq[3],</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                  <span class="keywordtype">float</span>* p, <span class="keywordtype">float</span>* v, <span class="keywordtype">float</span> J[][3]);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">void</span> impedanceControl(<span class="keyword">const</span> <span class="keywordtype">float</span> side_sign, <span class="keyword">const</span> <span class="keywordtype">float</span> q[3],</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                        <span class="keyword">const</span> <span class="keywordtype">float</span> dq[3], <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">position_des</a>[3],</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                        <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">velocity_des</a>[3], <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">kp</a>[3],</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                        <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">kd</a>[3], <span class="keyword">const</span> <span class="keywordtype">float</span> force_bias[3],</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                        <span class="keyword">const</span> <span class="keywordtype">float</span> torque_bias[3], <span class="keywordtype">float</span>* position,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                        <span class="keywordtype">float</span>* velocity, <span class="keywordtype">float</span>* force, <span class="keywordtype">float</span>* torque);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">   57</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">_side_sign</a>;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">   58</a></span>&#160;  <span class="keywordtype">float</span> _l1, _l2, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a>;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a0880e70dc33617c780f7d989d8a977bb">   59</a></span>&#160;  <span class="keywordtype">bool</span> link_lengths_set = <span class="keyword">false</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;};</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#endif  // TI_BOARDCONTROL_H</span></div><div class="ttc" id="struct_ti_board_command_html_a7da5c7d517f9dd1185204fb76d244e58"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">TiBoardCommand::max_torque</a></div><div class="ttdeci">float max_torque</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00017">ti_boardcontrol.h:17</a></div></div>
<div class="ttc" id="c_types_8h_html"><div class="ttname"><a href="../../d0/d99/c_types_8h.html">cTypes.h</a></div><div class="ttdoc">Common types that are only valid in C++. </div></div>
<div class="ttc" id="struct_ti_board_command_html_a24cc094d5bc085948a157766844f556b"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">TiBoardCommand::kd</a></div><div class="ttdeci">float kd[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00013">ti_boardcontrol.h:13</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_aed1ae639325c878829a4d3ffd58184be"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#aed1ae639325c878829a4d3ffd58184be">TiBoardCommand::tau_ff</a></div><div class="ttdeci">float tau_ff[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00015">ti_boardcontrol.h:15</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a281639ac05d7ed715a414d785dbddbbe"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">TI_BoardControl::_side_sign</a></div><div class="ttdeci">float _side_sign</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00057">ti_boardcontrol.h:57</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a1cceb8b3d396de973e195971a9aba3b1"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">TiBoardCommand::kp</a></div><div class="ttdeci">float kp[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00012">ti_boardcontrol.h:12</a></div></div>
<div class="ttc" id="c_types_8h_html_afaa62991928fb9fb18ff0db62a040aba"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a></div><div class="ttdeci">uint32_t u32</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00018">cTypes.h:18</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a3aa634040ada4f6f9fa6eb43472e0f5e"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">TiBoardCommand::velocity_des</a></div><div class="ttdeci">float velocity_des[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00011">ti_boardcontrol.h:11</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a9365069ffa74df468313b55d24d4fcce"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">TI_BoardControl::data</a></div><div class="ttdeci">TiBoardData * data</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00045">ti_boardcontrol.h:45</a></div></div>
<div class="ttc" id="struct_ti_board_command_html"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00009">ti_boardcontrol.h:9</a></div></div>
<div class="ttc" id="class_t_i___board_control_html"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html">TI_BoardControl</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00033">ti_boardcontrol.h:33</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_acc3fe746277290261acfb4b3a7f1cab3"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">TI_BoardControl::data_structure</a></div><div class="ttdeci">TiBoardData data_structure</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00042">ti_boardcontrol.h:42</a></div></div>
<div class="ttc" id="c_types_8h_html_ae9b1af5c037e57a98884758875d3a7c4"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a></div><div class="ttdeci">int32_t s32</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00023">cTypes.h:23</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a71ac7295b1c19c1aba762a1da73e4a78"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a71ac7295b1c19c1aba762a1da73e4a78">TiBoardData::ethercat_count_ti</a></div><div class="ttdeci">u32 ethercat_count_ti</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00029">ti_boardcontrol.h:29</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a34adea65f3e6967356c8da43562bb3a9"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">TI_BoardControl::command</a></div><div class="ttdeci">TiBoardCommand command</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00041">ti_boardcontrol.h:41</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a7f848ae35717601f1698d817740b729d"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a7f848ae35717601f1698d817740b729d">TiBoardCommand::enable</a></div><div class="ttdeci">s32 enable</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00016">ti_boardcontrol.h:16</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_ac56601d292d7fdd729c035076d72bbe4"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#ac56601d292d7fdd729c035076d72bbe4">TiBoardData::microtime_ti</a></div><div class="ttdeci">u32 microtime_ti</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00030">ti_boardcontrol.h:30</a></div></div>
<div class="ttc" id="struct_ti_board_data_html"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html">TiBoardData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00020">ti_boardcontrol.h:20</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a4ebe624e78c04ef728d2cac3e265e969"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a4ebe624e78c04ef728d2cac3e265e969">TiBoardCommand::force_ff</a></div><div class="ttdeci">float force_ff[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00014">ti_boardcontrol.h:14</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_ae3964e6f3467faf2f211cb6f3d4a86af"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">TiBoardCommand::position_des</a></div><div class="ttdeci">float position_des[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00010">ti_boardcontrol.h:10</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a81765ede3ad9b85d0a95652d5e159340"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a81765ede3ad9b85d0a95652d5e159340">TiBoardData::loop_count_ti</a></div><div class="ttdeci">u32 loop_count_ti</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00028">ti_boardcontrol.h:28</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a010e55bafbdf6584c3c1c698d3177c6b"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">TI_BoardControl::_l3</a></div><div class="ttdeci">float _l3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00058">ti_boardcontrol.h:58</a></div></div>
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